【摘要】 针对无人直升机姿态通道中存在的测量干扰与控制输入受限等问题,利用包含时变柔化因子的模型预测控制算法设计了一种姿态通道控制器。具体而言,首先对姿态通道的传递函数进行了等效变换,得到嵌入了积分环节的状态空间(SSEI)模型,并进一步建立了姿态通道的预测模型;然后综合分析了姿态通道系统在初始响应速度和减小测量干扰影响两个方面的要求,设计了含时变柔化因子的柔化轨迹;接着考虑到舵机的输出限制,分析了姿态通道的控制输入约束条件;最后基于上述三点内容,设计了滚动优化过程。论文还以无人直升机的偏航通道为例进行了飞行实验测试,结果表明该控制算法可明显地加快系统响应速度,减小模型不确定性与测量干扰等因素的影响,具有较好的工程应用价值。更多还原

【Abstract】 For the measurement disturbances and control inputs constraints,an attitude channel controller is proposed by utilizing the discrete-time model predictive control strategy with a time-varying softening factor(DMPC_TVSF).The attitude channel transfer function is equivalently transformed into the state space representation with an embedded integrator(SSEI),based on which the predictive model is developed.With the requirements of the initial response speed and the effect reduction of the persistent disturbances,the softening trajectory with time-varying softening factor is introduced.Considering the limited operation range of the helicopter rudder,the attitude channel control constraint is theoretically analyzed.Based on the aforementioned results,the receding horizon optimization process is employed to obtain a best control input.The yaw channel flight experiment of an unmanned helicopter is utilized to test the performance of the proposed DMPC_TVSF control scheme,and the results demonstrate that it speeds up the system response,decreases the influence of model uncertainty and measurement disturbances.Therefore,the proposed control method presents good application potentials.更多还原